#include <BMI055_gyro.hpp>

Inheritance diagram for BMI055_gyro:

Collaboration diagram for BMI055_gyro:

Classes
struct	BMI_GyroReport
	Report conversation within the BMI055_gyro, including command byte and interrupt status. More...

Public Member Functions
	BMI055_gyro (int bus, const char *path_gyro, uint32_t device, enum Rotation rotation)

virtual	~BMI055_gyro ()

virtual int	init ()

void	start ()

void	print_info ()
	Diagnostics - print some basic information about the driver. More...

void	print_registers ()

void	test_error ()

Public Member Functions inherited from BMI055
	BMI055 (const char name, const char devname, int bus, uint32_t device, enum spi_mode_e mode, uint32_t frequency, enum Rotation rotation)

virtual	~BMI055 ()=default

Protected Member Functions
virtual int	probe ()

Protected Member Functions inherited from BMI055
uint8_t	read_reg (unsigned reg)
	Read a register from the BMI055. More...

uint16_t	read_reg16 (unsigned reg)

void	write_reg (unsigned reg, uint8_t value)
	Write a register in the BMI055. More...

	BMI055 (const BMI055 &)

BMI055	operator= (const BMI055 &)

Private Member Functions
void	stop ()
	Stop automatic measurement. More...

int	reset ()
	Reset chip. More...

void	Run () override

void	measure ()
	Fetch measurements from the sensor and update the report buffers. More...

void	modify_reg (unsigned reg, uint8_t clearbits, uint8_t setbits)
	Modify a register in the BMI055_gyro. More...

void	write_checked_reg (unsigned reg, uint8_t value)
	Write a register in the BMI055_gyro, updating _checked_values. More...

int	set_gyro_range (unsigned max_dps)
	Set the BMI055_gyro measurement range. More...

int	gyro_set_sample_rate (float desired_sample_rate_hz)

void	check_registers (void)

	BMI055_gyro (const BMI055_gyro &)

BMI055_gyro	operator= (const BMI055_gyro &)

Private Attributes
PX4Gyroscope	_px4_gyro

perf_counter_t	_sample_perf

perf_counter_t	_bad_transfers

perf_counter_t	_bad_registers

uint8_t	_checked_values [BMI055_GYRO_NUM_CHECKED_REGISTERS]

uint8_t	_checked_bad [BMI055_GYRO_NUM_CHECKED_REGISTERS]

Static Private Attributes
static const uint8_t	_checked_registers [BMI055_GYRO_NUM_CHECKED_REGISTERS]

Additional Inherited Members
Protected Attributes inherited from BMI055
uint8_t	_whoami

uint8_t	_register_wait
	whoami result More...

uint64_t	_reset_wait

enum Rotation	_rotation

uint8_t	_checked_next

Detailed Description

Definition at line 134 of file BMI055_gyro.hpp.

Constructor & Destructor Documentation

◆ BMI055_gyro() [1/2]

BMI055_gyro::BMI055_gyro	(	int	bus,
		const char *	path_gyro,
		uint32_t	device,
		enum Rotation	rotation
	)

Definition at line 50 of file BMI055_gyro.cpp.

References _px4_gyro, DRV_GYR_DEVTYPE_BMI055, and PX4Gyroscope::set_device_type().

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◆ ~BMI055_gyro()

BMI055_gyro::~BMI055_gyro ( )

virtual

Definition at line 61 of file BMI055_gyro.cpp.

References _bad_registers, _bad_transfers, _sample_perf, perf_free(), and stop().

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◆ BMI055_gyro() [2/2]

BMI055_gyro::BMI055_gyro ( const BMI055_gyro & )

private

Member Function Documentation

◆ check_registers()

void BMI055_gyro::check_registers ( void )

private

Definition at line 278 of file BMI055_gyro.cpp.

References _bad_registers, _checked_bad, BMI055::_checked_next, _checked_registers, _checked_values, BMI055::_register_wait, BMI055::_reset_wait, BMI055_GYR_SOFTRESET, BMI055_GYRO_NUM_CHECKED_REGISTERS, BMI055_SOFT_RESET, hrt_absolute_time(), perf_count(), BMI055::read_reg(), and BMI055::write_reg().

Referenced by measure().

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◆ gyro_set_sample_rate()

int BMI055_gyro::gyro_set_sample_rate ( float desired_sample_rate_hz )

private

Definition at line 144 of file BMI055_gyro.cpp.

References BMI055_GYR_BW, BMI055_GYRO_BW_MASK, BMI055_GYRO_RATE_100, BMI055_GYRO_RATE_1000, BMI055_GYRO_RATE_2000, BMI055_GYRO_RATE_400, modify_reg(), and OK.

Referenced by reset().

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◆ init()

int BMI055_gyro::init ( )

virtual

Definition at line 73 of file BMI055_gyro.cpp.

References DEVICE_DEBUG, ToneAlarmInterface::init(), OK, and reset().

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◆ measure()

void BMI055_gyro::measure ( )

private

Fetch measurements from the sensor and update the report buffers.

Definition at line 321 of file BMI055_gyro.cpp.

References _bad_registers, _bad_transfers, _px4_gyro, BMI055::_register_wait, BMI055::_reset_wait, _sample_perf, BMI055_ACC_TEMP, BMI055_GYR_X_L, check_registers(), BMI055_gyro::BMI_GyroReport::cmd, DIR_READ, hrt_absolute_time(), hrt_abstime, OK, perf_begin(), perf_count(), perf_end(), perf_event_count(), BMI055::read_reg(), PX4Gyroscope::set_error_count(), PX4Gyroscope::set_temperature(), and PX4Gyroscope::update().

Referenced by Run().

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◆ modify_reg()

void BMI055_gyro::modify_reg	(	unsigned	reg,
		uint8_t	clearbits,
		uint8_t	setbits
	)

private

Modify a register in the BMI055_gyro.

Bits are cleared before bits are set.

Parameters

reg	The register to modify.
clearbits	Bits in the register to clear.
setbits	Bits in the register to set.

Definition at line 186 of file BMI055_gyro.cpp.

References BMI055::read_reg(), and write_checked_reg().

Referenced by gyro_set_sample_rate(), and set_gyro_range().

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◆ operator=()

BMI055_gyro BMI055_gyro::operator= ( const BMI055_gyro & )

private

◆ print_info()

void BMI055_gyro::print_info ( )

Diagnostics - print some basic information about the driver.

Definition at line 415 of file BMI055_gyro.cpp.

References _bad_registers, _bad_transfers, _checked_bad, BMI055::_checked_next, _checked_registers, _checked_values, _px4_gyro, _sample_perf, BMI055_GYRO_NUM_CHECKED_REGISTERS, perf_print_counter(), PX4Gyroscope::print_status(), and BMI055::read_reg().

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◆ print_registers()

void BMI055_gyro::print_registers ( )

Definition at line 447 of file BMI055_gyro.cpp.

References _checked_registers, and BMI055::read_reg().

Referenced by test_error().

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◆ probe()

int BMI055_gyro::probe ( )

protectedvirtual

Definition at line 124 of file BMI055_gyro.cpp.

References _checked_bad, _checked_values, BMI055::_whoami, BMI055_GYR_CHIP_ID, BMI055_GYR_WHO_AM_I, DEVICE_DEBUG, OK, and BMI055::read_reg().

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◆ reset()

int BMI055_gyro::reset ( )

private

Reset chip.

Resets the chip and measurements ranges, but not scale and offset.

Definition at line 87 of file BMI055_gyro.cpp.

References _checked_registers, _checked_values, BMI055_GYR_BW, BMI055_GYR_DRDY_INT1, BMI055_GYR_DRDY_INT_EN, BMI055_GYR_INT_EN_0, BMI055_GYR_INT_MAP_1, BMI055_GYR_LPM1, BMI055_GYR_RANGE, BMI055_GYR_SOFTRESET, BMI055_GYRO_DEFAULT_RANGE_DPS, BMI055_GYRO_DEFAULT_RATE, BMI055_GYRO_NORMAL, BMI055_GYRO_NUM_CHECKED_REGISTERS, BMI055_SOFT_RESET, gyro_set_sample_rate(), OK, BMI055::read_reg(), set_gyro_range(), write_checked_reg(), and BMI055::write_reg().

Referenced by init().

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◆ Run()

void BMI055_gyro::Run ( )

overrideprivate

Definition at line 271 of file BMI055_gyro.cpp.

References measure().

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◆ set_gyro_range()

int BMI055_gyro::set_gyro_range ( unsigned max_dps )

private

Set the BMI055_gyro measurement range.

Parameters

max_dps The maximum DPS value the range must support.

Returns: OK if the value can be supported, -EINVAL otherwise.

Definition at line 208 of file BMI055_gyro.cpp.

References _px4_gyro, BMI055_GYR_RANGE, BMI055_GYRO_RANGE_1000_DPS, BMI055_GYRO_RANGE_125_DPS, BMI055_GYRO_RANGE_2000_DPS, BMI055_GYRO_RANGE_250_DPS, BMI055_GYRO_RANGE_500_DPS, f(), M_PI_F, modify_reg(), OK, and PX4Gyroscope::set_scale().

Referenced by reset().

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◆ start()

void BMI055_gyro::start ( )

Definition at line 255 of file BMI055_gyro.cpp.

References BMI055_GYRO_DEFAULT_RATE, BMI055_TIMER_REDUCTION, and stop().

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◆ stop()

void BMI055_gyro::stop ( )

private

Stop automatic measurement.

Definition at line 265 of file BMI055_gyro.cpp.

Referenced by start(), and ~BMI055_gyro().

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◆ test_error()

void BMI055_gyro::test_error ( )

Definition at line 178 of file BMI055_gyro.cpp.

References BMI055_GYR_SOFTRESET, BMI055_SOFT_RESET, print_registers(), and BMI055::write_reg().

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◆ write_checked_reg()

void BMI055_gyro::write_checked_reg	(	unsigned	reg,
		uint8_t	value
	)

private

Write a register in the BMI055_gyro, updating _checked_values.

Parameters

reg	The register to write.
value	The new value to write.

Definition at line 195 of file BMI055_gyro.cpp.

References _checked_bad, _checked_registers, _checked_values, BMI055_GYRO_NUM_CHECKED_REGISTERS, and BMI055::write_reg().

Referenced by modify_reg(), and reset().

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Member Data Documentation

◆ _bad_registers

perf_counter_t BMI055_gyro::_bad_registers

private

Definition at line 165 of file BMI055_gyro.hpp.

Referenced by check_registers(), measure(), print_info(), and ~BMI055_gyro().

◆ _bad_transfers

perf_counter_t BMI055_gyro::_bad_transfers

private

Definition at line 164 of file BMI055_gyro.hpp.

Referenced by measure(), print_info(), and ~BMI055_gyro().

◆ _checked_bad

uint8_t BMI055_gyro::_checked_bad[BMI055_GYRO_NUM_CHECKED_REGISTERS]

private

Definition at line 173 of file BMI055_gyro.hpp.

Referenced by check_registers(), print_info(), probe(), and write_checked_reg().

◆ _checked_registers

const uint8_t BMI055_gyro::_checked_registers

staticprivate

Initial value:

= {    BMI055_GYR_CHIP_ID,
                                            BMI055_GYR_LPM1,
                                            BMI055_GYR_BW,
                                            BMI055_GYR_RANGE,
                                            BMI055_GYR_INT_EN_0,
                                            BMI055_GYR_INT_EN_1,
                                            BMI055_GYR_INT_MAP_1
                                           }

Definition at line 171 of file BMI055_gyro.hpp.

Referenced by check_registers(), print_info(), print_registers(), reset(), and write_checked_reg().

◆ _checked_values

uint8_t BMI055_gyro::_checked_values[BMI055_GYRO_NUM_CHECKED_REGISTERS]

private

Definition at line 172 of file BMI055_gyro.hpp.

Referenced by check_registers(), print_info(), probe(), reset(), and write_checked_reg().

◆ _px4_gyro

PX4Gyroscope BMI055_gyro::_px4_gyro

private

Definition at line 161 of file BMI055_gyro.hpp.

Referenced by BMI055_gyro(), measure(), print_info(), and set_gyro_range().

◆ _sample_perf

perf_counter_t BMI055_gyro::_sample_perf

private

Definition at line 163 of file BMI055_gyro.hpp.

Referenced by measure(), print_info(), and ~BMI055_gyro().

The documentation for this class was generated from the following files:

src/drivers/imu/bmi055/BMI055_gyro.hpp
src/drivers/imu/bmi055/BMI055_gyro.cpp

Classes

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BMI055_gyro() [1/2]

◆ ~BMI055_gyro()

◆ BMI055_gyro() [2/2]

Member Function Documentation

◆ check_registers()

◆ gyro_set_sample_rate()

◆ init()

◆ measure()

◆ modify_reg()

◆ operator=()

◆ print_info()

◆ print_registers()

◆ probe()

◆ reset()

◆ Run()

◆ set_gyro_range()

◆ start()

◆ stop()

◆ test_error()

◆ write_checked_reg()

Member Data Documentation

◆ _bad_registers

◆ _bad_transfers

◆ _checked_bad

◆ _checked_registers

◆ _checked_values

◆ _px4_gyro

◆ _sample_perf